34 CHISQUARE[DF][NALPHAS] =
35 { { 7.88, 6.63, 5.02, 3.84, 2.71, 1.32 },
36 { 10.6, 9.21, 7.38, 5.99, 4.61, 2.77 },
37 { 12.8, 11.3, 9.35, 7.81, 6.25, 4.11 },
38 { 14.9, 13.3, 11.1, 9.49, 7.78, 5.39 },
39 { 16.7, 15.1, 12.8, 11.1, 9.24, 6.63 },
40 { 18.5, 16.8, 14.4, 12.6, 10.6, 7.84 },
41 { 20.3, 18.5, 16.0, 14.1, 12.0, 9.04 },
42 { 22.0, 20.1, 17.5, 15.5, 13.4, 10.2 },
43 { 23.6, 21.7, 19.0, 16.9, 14.7, 11.4 },
44 { 25.2, 23.2, 20.5, 18.3, 16.0, 12.5 },
45 { 26.8, 24.7, 21.9, 19.7, 17.3, 13.7 },
46 { 28.3, 26.2, 23.3, 21.0, 18.5, 14.8 },
47 { 29.8, 27.7, 24.7, 22.4, 19.8, 16.0 },
48 { 31.3, 29.1, 26.1, 23.7, 21.1, 17.1 },
49 { 32.8, 30.6, 27.5, 25.0, 22.3, 18.2 },
50 { 34.3, 32.0, 28.8, 26.3, 23.5, 19.4 },
51 { 35.7, 33.4, 30.2, 27.6, 24.8, 20.5 },
52 { 37.2, 34.8, 31.5, 28.9, 26.0, 21.6 },
53 { 38.6, 36.2, 32.9, 30.1, 27.2, 22.7 },
54 { 40.0, 37.6, 34.2, 31.4, 28.4, 23.8 }
57 #define COLUMN(a) ((a) <= 5 ? 0 : ((a) <= 10 ? 1 : ((a) <= 20 ? 2 : ((a) <= 50 ? 3 : ((a) <= 100 ? 4 : 5)))))
58 #define RADIANS(d) ((d)*M_PI/180.0)
69 const int idx(
void)
const {
return idx_; }
71 bool operator < (
const Endpoint &rhs)
const {
return idx_ < rhs.idx_; }
77 typedef std::vector<Endpoint> EndpointsVector;
85 const int NumEps(
void)
const {
return endpoints_.size(); }
86 const Endpoint &Ep(
int i)
const {
return endpoints_.at(i); }
88 void IterativeLineSplit(
int fromIdx,
int toIdx);
89 void IterativeLineSplit(
void);
91 void PushGuiData(
GuiData *gui_data)
const;
97 EndpointsVector endpoints_;
100 typedef std::vector<HRegion> RegionsVector;
124 void FindHomogeneousRegions(
const Scan &s, RegionsVector *r);
125 void IterativeLineFitting(
const Scan &s, RegionsVector *r);
Request to get an integer property.
Definition: player.h:459
#define PLAYER_WARN1(msg, a)
Definition: error.h:90
#define PLAYER_MSG1(level, msg, a)
Definition: error.h:106
#define PLAYER_MSG3(level, msg, a, b, c)
Definition: error.h:108
static bool MatchMessage(player_msghdr_t *hdr, int type, int subtype, player_devaddr_t addr)
Helper for message processing.
Definition: message.h:159
A rectangular bounding box, used to define the size of an object.
Definition: player.h:255
double ReadFloat(int section, const char *name, double value)
Read a floating point (double) value.
Boolean property class.
Definition: property.h:87
double ReadTupleLength(int section, const char *name, int index, double value)
Read a length from a tuple (includes units conversion)
Generic message header.
Definition: player.h:162
virtual int MainSetup(void)
Sets up the resources needed by the driver thread.
Definition: driver.h:658
virtual void MainQuit(void)
Cleanup method for driver thread (called when main exits)
Definition: driver.h:664
const char * ReadString(int section, const char *name, const char *value)
Read a string value.
Definition: hregions.hh:80
virtual void Main(void)=0
Main method for driver thread.
#define PLAYER_MSGTYPE_DATA
A data message.
Definition: player.h:95
int32_t value
The property value.
Definition: player.h:465
#define PLAYER_MSGTYPE_RESP_ACK
A positive response message.
Definition: player.h:112
Definition: hregions.hh:65
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
bool ReadBool(int section, const char *name, bool value)
Read a boolean value (one of: yes, no, true, false, 1, 0)
#define PLAYER_MSGTYPE_REQ
A request message.
Definition: player.h:106
#define PLAYER_MSGTYPE_RESP_NACK
A negative response message.
Definition: player.h:125
Integer property class.
Definition: property.h:115
double ReadTupleAngle(int section, const char *name, int index, double value)
Read an angle form a tuple (includes units conversion)
Class for loading configuration file information.
Definition: configfile.h:197
#define PLAYER_CAPABILITIES_REQ
Capability request message type.
Definition: player.h:397
An autopointer for the message queue.
Definition: message.h:74
Double property class.
Definition: property.h:143
#define PLAYER_ERROR1(msg, a)
Definition: error.h:82
A pose in space.
Definition: player.h:229
#define PLAYER_ERROR(msg)
Definition: error.h:81
Base class for drivers which oeprate with a thread.
Definition: driver.h:553
char * key
The property key.
Definition: player.h:463
Base class for all drivers.
Definition: driver.h:109
#define PLAYER_ERROR3(msg, a, b, c)
Definition: error.h:84
#define PLAYER_MSG0(level, msg)
General messages.
Definition: error.h:105
#define PLAYER_MSG2(level, msg, a, b)
Definition: error.h:107
#define PLAYER_SET_INTPROP_REQ
Integer property set request subtype.
Definition: player.h:432
#define PLAYER_MSGQUEUE_DEFAULT_MAXLEN
Default maximum length for a message queue.
Definition: player.h:76